Terrain recognition method and terrain recognition device

摘要

PPROBLEM TO BE SOLVED: To accurately recognize the three-dimensional shape of the ground surface by using a stereo camera loaded on a moving body, and to perform the topography recognition over a wide range following movement of the moving body. PSOLUTION: A stereo image processing part 7 outputs distance data relative to each frame based on a pair of image data outputted in time series from the stereo camera 2. A topographic data generation part 12 generates the topographic data in the first frame based on the distance data in the first frame. A self-motion detection part 13 detects the moving quantity of the moving body between the first and second frames based on image data in the first frame, image data in the second frame before the first frame, and the distance data relative to the image data. A topographic map generation part 14 generates a topographic map by synthesizing sequentially the topographic data generated by the topographic data generation part 12 in consideration of the moving quantity detected by the self-motion detection part 13. PCOPYRIGHT: (C)2004,JPO